WO2020110304A1 - 路面情報収集装置 - Google Patents

路面情報収集装置 Download PDF

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Publication number
WO2020110304A1
WO2020110304A1 PCT/JP2018/044248 JP2018044248W WO2020110304A1 WO 2020110304 A1 WO2020110304 A1 WO 2020110304A1 JP 2018044248 W JP2018044248 W JP 2018044248W WO 2020110304 A1 WO2020110304 A1 WO 2020110304A1
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WO
WIPO (PCT)
Prior art keywords
sampling
acceleration sensor
tire
road surface
surface information
Prior art date
Application number
PCT/JP2018/044248
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English (en)
French (fr)
Japanese (ja)
Inventor
和則 澤藤
Original Assignee
太平洋工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 太平洋工業株式会社 filed Critical 太平洋工業株式会社
Priority to CN201880029568.2A priority Critical patent/CN111587200B/zh
Priority to EP18917036.8A priority patent/EP3699054B1/en
Priority to PCT/JP2018/044248 priority patent/WO2020110304A1/ja
Priority to US16/610,210 priority patent/US11249108B2/en
Priority to JP2019560784A priority patent/JP7096270B2/ja
Publication of WO2020110304A1 publication Critical patent/WO2020110304A1/ja

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C19/00—Tyre parts or constructions not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • B60T8/1725—Using tyre sensors, e.g. Sidewall Torsion sensors [SWT]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C19/00—Tyre parts or constructions not otherwise provided for
    • B60C2019/004—Tyre sensors other than for detecting tyre pressure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/10—Detection or estimation of road conditions
    • B60T2210/12—Friction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2240/00—Monitoring, detecting wheel/tire behaviour; counteracting thereof
    • B60T2240/03—Tire sensors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration

Definitions

  • the present disclosure relates to a road surface information collecting device that collects road surface information while a vehicle is traveling.
  • JP-A-2007-55284 (paragraphs [0002], [0003], [0018])
  • the battery consumption is fast, so it is required to develop a technology capable of suppressing the power consumption.
  • the invention according to claim 1 made in order to solve the above-mentioned problems, in a road surface information collecting device for collecting road surface information by an acceleration sensor mounted on an inner peripheral surface of a tire of a vehicle, a first sampling of a detection result of the acceleration sensor.
  • a first sampling unit that obtains first sampling data by sampling in a cycle
  • a position calculation unit that calculates a rotational position of the acceleration sensor based on a change of the first sampling data
  • the acceleration sensor is a tire It operates under one of the conditions that it is located within the first specified range including the back side position of the ground contact portion, and the detection result of the acceleration sensor is sampled at a second sampling cycle shorter than the first sampling cycle.
  • a second sampling unit that acquires second sampling data as the road surface information.
  • Circuit diagram of the road surface information collecting apparatus of the first embodiment Conceptual diagram of a vehicle equipped with a road surface information collection device Graph showing changes in the detected voltage of the acceleration sensor Correspondence table between tire angular velocity and first sampling period Conceptual diagram showing the position where sampling is performed
  • Block diagram of road information collection device Block diagram of a road surface information collecting device of the second embodiment
  • Circuit diagram of the road surface information collecting device of the third embodiment Graph showing changes in the detected voltage of the acceleration sensor Circuit diagram of the road surface information collecting device of the fourth embodiment
  • Circuit diagram of the road surface information collecting device of the fifth embodiment Block diagram of road information collection device Block diagram of a road surface information collecting device of a sixth embodiment
  • a road surface information collecting apparatus 10 of the present embodiment includes a plurality of sensors connected to a control circuit 11, a battery 12 as a power source, and an entire package in a resin housing (not shown). Has been done. Then, as shown in FIG. 2, the road surface information collecting device 10 is fixed to the inner peripheral surface of each tire 92 of the vehicle 90, and the monitoring device 93 mounted on the vehicle body 91 and each road surface information collecting device 10 are wireless. Connected.
  • control circuit 11 is provided with a power supply circuit 24 that transforms the output voltage of the battery 12 as necessary to supply power to each part.
  • a capacitor may be provided as a power source instead of the battery 12.
  • the battery 12 may be of a one-time use type or may be rechargeable wirelessly from the outside.
  • the plurality of sensors described above include, for example, an acceleration sensor 13, a pressure sensor 17, and a temperature sensor 18. These sensors have a structure in which the resistance value changes according to the change of the detection target, are used in a state of receiving a voltage from the power supply circuit 24, and output a detection voltage according to the size of each detection target.
  • the acceleration sensor 13 is, for example, a composite type including an X-axis acceleration sensor 14, a Y-axis acceleration sensor 15, and a Z-axis acceleration sensor 16, and has accelerations in three directions of an X-axis, a Y-axis, and a Z-axis that are orthogonal to each other. Can be detected separately. Then, the road surface information collecting device 10 is arranged at the center in the width direction at any one position in the circumferential direction of the inner peripheral surface of the tire 92, and at the same time, the X-axis acceleration sensor 14 applies acceleration toward the rotation center C1 of the tire 92. It is arranged so that the Y-axis acceleration sensor 15 can detect the acceleration in the circumferential speed direction of the tire 92, and the Z-axis acceleration sensor 16 can detect the acceleration in the rotational axis direction of the tire 92. ing.
  • the control circuit 11 has a CPU 20, a RAM 20A, and a ROM 20B.
  • the output of the X-axis acceleration sensor 14 is connected to the interrupt terminal of the CPU 20 via the interface 19A. Then, when the vehicle 90 travels, the X-axis acceleration sensor 14 receives centrifugal force, and when the detected voltage becomes equal to or higher than a preset reference voltage, the detected voltage becomes an interrupt signal, and the CPU 20 stores it in the ROM 20B by interrupt processing.
  • the executed start program (not shown) is executed.
  • the start-up program before the start-up program is executed, power supply from the power supply circuit 24 to parts other than the X-axis acceleration sensor 14, the interface 19A, and the CPU 20 is stopped, and these parts are required after execution of the start-up program.
  • the power supply is started according to. Further, when the state in which the interrupt signal is not given to the interrupt terminal of the CPU 20 continues for a preset specified time, the CPU 20 executes the sleep program (not shown) stored in the ROM 20B, and the X-axis Power supply from the power supply circuit 24 to parts other than the acceleration sensor 14, the interface 19A, and the CPU 20 is stopped.
  • the control circuit 11 includes first to third A/D converters 21, 22 and 23.
  • the X-axis acceleration sensor 14 is connected to the first A/D converter 21, the X-axis acceleration sensor 14, the Y-axis acceleration sensor 15, and the Z-axis acceleration sensor 16 are connected to the second A/D converter 22, and the third A A pressure sensor 17 and a temperature sensor 18 are connected to the /D converter 23.
  • an interface 19B is provided between each sensor and the first to third A/D converters 21, 22, 23, and a detection signal of each sensor is amplified and noise is removed as necessary. It is taken into the first to third A/D converters 21, 22, 23. Then, the first to third A/D converters 21, 22, 23 output the sampling data generated by sampling the detection voltage of each sensor to the buffer 25.
  • the CPU 20 determines the rotational position of the acceleration sensor 13 from sampling data of the output voltage of the X-axis acceleration sensor 14 (hereinafter, referred to as “first sampling data”) output from the first A/D converter 21. Calculate Then, the CPU 20 determines the on/off timing of the second A/D converter 21 based on the calculation results. Further, the CPU 20 turns on/off the third A/D converter 23 at a preset timing regardless of the rotational position of the acceleration sensor 13 and the angular velocity of the tire 92.
  • the CPU 20 outputs sampling data of the detection voltage of the acceleration sensor 13 (X-axis acceleration sensor 14, Y-axis acceleration sensor 15, Z-axis acceleration sensor 16) output from the second A/D converter 22 to the buffer 25 (hereinafter, these Is referred to as "second sampling data"), and spectrum data is generated by, for example, FFT processing. Then, the CPU 20 causes the wireless circuit 26 to wirelessly output the spectrum data as road surface information. At this time, the wireless circuit 26 wirelessly outputs the road surface information together with the identification number for each road surface information collecting device 10 for distinguishing the road surface information collecting devices 10 from each other.
  • the wireless circuit 26 stores sampling data of output voltages of the pressure sensor 17 and the temperature sensor 18 (hereinafter, referred to as “third sampling data”) output from the third A/D converter 23 to the buffer 25 in the tire.
  • the information is wirelessly output to the wireless circuit 26 together with the identification number.
  • the detection result of the acceleration sensor 13 is sampled at the first sampling period and the second sampling period shorter than the first sampling period.
  • the output voltage of the X-axis acceleration sensor 14 of the acceleration sensor 13 is sampled by the first and second A/D converters 21 and 22. Then, the first A/D converter 21 calculates the rotational position of the acceleration sensor 13 based on the change in the first sampling data sampled at the first sampling period, and the acceleration sensor 13 includes the back side position of the ground contact portion of the tire.
  • the second A/D converter 22 is configured to sample the detection result of the acceleration sensor 13 in the second sampling cycle on the condition that it is located within one prescribed range.
  • the first A/D converter 21 samples the output voltage of the X-axis acceleration sensor 14 at the initial setting first sampling cycle.
  • the horizontal axis is [time] and the vertical axis is The graph with the value of the first sampling data draws a sine wave. The difference between the maximum and minimum peak values in the graph at this time corresponds to the centrifugal force, and in this case is naturally [0].
  • the graph shows that the sine wave is changed by the centrifugal force F in the vertical direction as shown in FIG.
  • the pulse wave is offset in the axial direction, and the value of the offset becomes the value of the centrifugal force F.
  • the CPU 20 obtains the centrifugal force F from the first sampling data, and calculates the angular velocity ⁇ from the centrifugal force F based on a general physical formula.
  • ROM 20B a constant for converting the centrifugal force F detected by each axis of the acceleration sensor 13 into an acceleration ⁇ directed toward the rotation center and a distance from the rotation center C1 of the tire 92 to the acceleration sensor 13.
  • the turning radius r1 is stored.
  • the first A/D converter 21 samples the output voltage of the X-axis acceleration sensor 14 at the same first sampling cycle regardless of the rotation speed of the tire 92, the sampling is performed while the tire 92 makes one rotation.
  • the number of data changes greatly, and it becomes difficult to detect the accurate rotational position of the road surface information collecting device 10 at high speed, while at the time of low speed, more sampling data is acquired than necessary and power is wasted. Become.
  • the CPU 20 controls to change the first sampling cycle of the first A/D converter 21 according to the angular velocity ⁇ of the tire 92. That is, as shown in FIG. 4, the magnitude of the angular velocity ⁇ of the tire 92 is divided into a plurality of stages, and in each stage, the number of times close to a preset reference number is set during one rotation of the tire 92.
  • the first sampling period S1 is set for each stage of the angular velocity ⁇ so that sampling is performed.
  • the reference number of times is set to 24, and the first sampling cycle S1 is set so that the number of times of sampling after 24 times and near 24 times is performed during one rotation of the tire 92. Has been done.
  • the vehicle speed when the outer diameter of the tire 92 is 35 [cm] and the cycle T1 of one rotation of the tire 92 are displayed as reference values. .
  • the circular locus R of the acceleration sensor 13 that rotates together with the tire 92 is conceptually drawn, and an example of the position where the first A/D converter 21 samples is shown as “ ⁇ ” on the circular locus R. Has been done.
  • the first reference data can be acquired to the extent that the rotational position of the acceleration sensor 13 can be detected by sampling the reference number of times during one rotation of the tire 92.
  • a position that is horizontally forward of the vehicle 90 with respect to the rotation center C1 of the tire 92 is an origin P0, and a direction in which the vehicle 90 moves forward and the tire 92 rotates with respect to the origin P0 (that is, FIG. 2). , 5 in the counterclockwise direction) as the rotational position of the acceleration sensor 13, the CPU 20 calculates the rotational position of the acceleration sensor 13 from the first sampling data as follows, for example. That is, the CPU 20 calculates the angular velocity ⁇ by obtaining the centrifugal force F from the first sampling data as described above.
  • a point at which the value of the first sampling data changes from a value larger than the centrifugal force F to a value smaller than the centrifugal force F is obtained as the origin P0.
  • the angular velocity ⁇ is integrated to calculate the rotation angle from the origin P0 as the rotation position of the acceleration sensor 13.
  • the acceleration sensor 13 is located directly behind the ground contact portion of the tire 92 at a rotation position advanced by 1/4 cycle (that is, 2 ⁇ /4) from the origin P0.
  • the rotation position where the acceleration sensor 13 is offset from the rotation position which is directly behind the ground contact portion of the tire 92 to the origin P0 side and the opposite side by a certain margin angle ⁇ m are the sampling start position P1 and the sampling end position. It is stored in the ROM 20B as P2.
  • the sampling start position P1 is set to 46 ⁇ /24
  • the sampling end position P2 is set to 50 ⁇ /24. Has been done.
  • the CPU 20 turns on the second A/D converter 22 on the condition that the acceleration sensor 13 is located within the first specified range L1 between the sampling start position P1 and the sampling end position P2. Then, the output voltages of the X-axis acceleration sensor 14, the Y-axis acceleration sensor 15, and the Z-axis acceleration sensor 16 are sampled at the second sampling cycle S2, and the second sampling data is generated and stored in the buffer 25 as described above.
  • Other conditions for turning on the second A/D converter 22 include, for example, "the tire 92 is rotating 10 times or more after the sampling by the second A/D converter 22" or "the first sampling data is equal to or more than a reference value". It has become big.”
  • the second sampling period S2 is set to a value that is extremely shorter than the first sampling period S1.
  • the second sampling period S2 is, for example, a constant value (for example, 1.0 ⁇ 10 ⁇ 6 [s]) at which the number of pieces of the second sampling data becomes a number that enables FFT processing. Is set to.
  • the bottom column of FIG. 4 shows the X-axis acceleration sensor 14, the Y-axis acceleration sensor 15, and the Z-axis acceleration sensor 16 that can be acquired within the first specified range L1 for each stage of the angular velocity of the tire 92.
  • Each sample data number N1 is shown.
  • the position where the second A/D converter 22 samples is located on the circular locus R of the acceleration sensor 13 described above is conceptually shown as a vertical line “
  • the entire road surface information collection device 10 functions as the configuration shown in the block diagram of FIG. That is, the on/off control unit 38 of FIG. 6 is configured to include the power supply circuit 24 and the CPU 20 that executes the above-described start-up program and sleep program, and controls the power supply to each part on/off to save power.
  • the first sampling unit 31 includes interfaces 19A and 19B, a first A/D converter 21, and a CPU 20 that controls the first A/D converter 21, and the second sampling unit 32 includes an interface 19B.
  • a second A/D converter 22 and a CPU 20 that controls the second A/D converter 22, and the third sampling unit 33 includes an interface 19B, a third A/D converter 23, and a third A/D thereof. It is configured to include the CPU 20 that controls the converter 23.
  • the speed calculator 34 is configured to include the CPU 20 when calculating the angular velocity ⁇ of the tire 92
  • the position calculator 35 is configured to include the CPU 20 when calculating the rotational position of the acceleration sensor 13.
  • the sampling control unit 36 turns on/off the second A/D converter 22 when the rotational position of the acceleration sensor 13 reaches the sampling start position P1 and the sampling end position P2, and based on a preset timing.
  • the sampling cycle determining unit 37 includes a data table in which the angular velocity ⁇ of the tire 92 and the first sampling cycle are associated with each other, and the data table and the tire calculating unit 34 determine the tire 92.
  • the FFT processing unit 39 is configured to include the CPU 20 that is performing the FFT processing on the second sampling data, and the wireless output unit 40 includes the wireless circuit 26 and the CPU 20 that causes the wireless circuit 26 to wirelessly transmit data. It is configured to include.
  • the CPU 20 which is a general-purpose processor, executes the start-up program and the sleep program to form part of the speed calculation unit 34 and the like.
  • a DSP Digital Signal Process
  • a dedicated circuit such as an ASIC (Application Specific Integrated Circuit) may be provided.
  • the starting program, the sleeping program, and the data table are stored in the ROM 20B, but may be stored in the RAM or another storage medium, and a plurality of RAM and ROM are included. It may be stored in a combination of types of storage media.
  • the acceleration received by the acceleration sensor 13 is sampled in the first sampling cycle S1 and the second sampling cycle S2 shorter than the first sampling cycle S1. Then, the rotational position of the acceleration sensor 13 is calculated based on the change in the first sampling data sampled in the first sampling period S1, and the acceleration sensor 13 is within the first specified range L1 including the back side position of the ground contact portion of the tire 92.
  • the second detection data is acquired by sampling the detection result of the acceleration sensor 13 at a short second sampling cycle S2 under the condition that the vehicle is located at the position. As a result, useless sampling can be suppressed and power consumption can be suppressed.
  • the acceleration sensor 13 for obtaining the road surface information is also used for detecting the rotational position of the acceleration sensor 13, the acceleration sensor 13 can be effectively used and the road surface information collecting device 10 can be downsized. Moreover, since the acceleration sensor 13 detects accelerations in a plurality of directions, it is possible to collect detailed road surface information. Then, since the in-tire information based on the pressure in the tire 92 is collected together with the road surface information, when the detection result of the acceleration sensor 13 may be affected by the tire pressure or the temperature in the tire, the in-tire information is acquired. It is possible to accurately analyze the road surface condition in consideration.
  • FIGS. 7 and 8 This embodiment is shown in FIGS. 7 and 8.
  • the road surface information collecting apparatus 10A of the present embodiment differs from the first embodiment in that the sampling cycle determining unit 37 changes both the first and second sampling cycles S1 and S2 according to the angular velocity ⁇ of the tire 92.
  • the second sampling cycle S2 is set to decrease as the angular velocity ⁇ of the tire 92 increases. This prevents the number N1 of sampled data that can be acquired within the first specified range L1 from greatly decreasing as the angular velocity ⁇ of the tire 92 increases, as shown in the bottom column of FIG.
  • FIGS. 9 and 10 This embodiment is shown in FIGS. 9 and 10.
  • the first A/D converter 21 samples the detection voltages of both the X-axis acceleration sensor 14 and the Y-axis acceleration sensor 15 at the same first sampling period S1. ..
  • the graph based on the first sampling data of the Y-axis acceleration sensor 15 sampled substantially at the same time is the first sampling of the X-axis acceleration sensor 14. Unlike the graph based on the data, it is not affected by the centrifugal force and changes according to the rotational position of the acceleration sensor 13. Therefore, in the present embodiment, when the CPU 20 functions as the position calculation unit 35 (see FIG. 6), the rotational position of the acceleration sensor 13 is detected based on the first sampling data of the Y-axis acceleration sensor 15. ..
  • the ROM 20B stores a data table in which the detected voltage of the Y-axis acceleration sensor 15 and the rotational position of the acceleration sensor 13 are associated with each other.
  • the data table the rotational position of the acceleration sensor 13 with respect to the value of each detection voltage while the detection voltage of the Y-axis acceleration sensor 15 is decreasing and the value of each detection voltage with the detection voltage of the Y-axis acceleration sensor 15 increasing.
  • the rotational position of the acceleration sensor 13 is stored separately.
  • the CPU 20 calculates the differential value of the first sampling data of the detected voltage of the Y-axis acceleration sensor 15, determines whether the detected voltage is decreasing or increasing, and then based on the data table.
  • the rotational position of the acceleration sensor 13 is obtained from the value of the voltage detected by the acceleration sensor 15.
  • the rotational position of the acceleration sensor 13 is also calculated from the first sampling data of the detected voltage of the X-axis acceleration sensor 14, and the acceleration sensor 13 is calculated from the detected voltage of the X-axis acceleration sensor 14.
  • the rotational position of No. 1 and the rotational position of the acceleration sensor 13 calculated from the detection voltage of the Y-axis acceleration sensor 15 match within a preset allowable value range, one of the rotational positions is adopted. It may be configured to be used. Alternatively, only the origin P0 may be obtained from the detection voltage of the Y-axis acceleration sensor 15, and the rotation angle from the origin P0 may be obtained by integrating the detection voltage of the X-axis acceleration sensor 14.
  • the first A/D converter 21 samples the detection voltage of only the Y-axis acceleration sensor 15. Then, similar to the third embodiment, when the CPU 20 functions as the position calculation unit 35 (see FIG. 6), the rotational position of the acceleration sensor 13 is detected based on the first sampling data of the Y-axis acceleration sensor 15. Further, the CPU 20 does not operate as the speed calculation unit 34 and the sampling period determination unit 37 (see FIG. 6), and the first sampling period has a constant value.
  • the acceleration sensor 13 of the road surface information collection device 10D has a structure including only the X-axis acceleration sensor 14 described above, and detects only the acceleration directed to the rotation center C1 of the tire 92. Further, in the road surface information collecting device 10D, the CPU 20 switches the sampling cycle of one A/D converter 21A between the first sampling cycle S1 and the second sampling cycle S2, and as shown in FIG. In the range L1, fine sampling is performed in the second sampling period S2, while in the regions other than the first specified range L1, coarse sampling is performed in the first sampling period S1. That is, in the present embodiment, the first sampling unit 31 shown in the block diagram of FIG.
  • the second sampling unit 32 is configured to include the A/D converter 21A that performs sampling in the second sampling cycle S2 and the CPU 20 that controls the A/D converter 21A.
  • the road surface information collection device 10E of the present embodiment has a data table that stores different correction values depending on the angular velocity ⁇ of the tire 92. Then, the sampling control unit 36 acquires a correction value from the data table based on the angular velocity ⁇ of the tire 92 detected by the velocity calculation unit 34, multiplies the correction value by ⁇ m described above, and for each angular velocity ⁇ of the tire 92. The sampling start position P1 and the sampling end position P2 are calculated. As a result, the first specified range L1 is controlled to become wider as the angular velocity ⁇ of the tire 92 increases.
  • the sampling control unit 36 and the above-mentioned data table correspond to the “first prescribed range determination unit” of the “claim”.
  • the road surface information collection device 10 of the above embodiment has the pressure sensor 17 and the temperature sensor 18, but it is not necessary to have one or both of them.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mathematical Physics (AREA)
  • Measuring Fluid Pressure (AREA)
  • Tires In General (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
PCT/JP2018/044248 2018-11-30 2018-11-30 路面情報収集装置 WO2020110304A1 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
CN201880029568.2A CN111587200B (zh) 2018-11-30 2018-11-30 路面信息收集装置
EP18917036.8A EP3699054B1 (en) 2018-11-30 2018-11-30 Road surface information collection device
PCT/JP2018/044248 WO2020110304A1 (ja) 2018-11-30 2018-11-30 路面情報収集装置
US16/610,210 US11249108B2 (en) 2018-11-30 2018-11-30 Road surface information collection device
JP2019560784A JP7096270B2 (ja) 2018-11-30 2018-11-30 路面情報収集装置

Applications Claiming Priority (1)

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